CN115032883B - Beidou PPP-B2B-based high-precision real-time synchronization device and method - Google Patents
Beidou PPP-B2B-based high-precision real-time synchronization device and method Download PDFInfo
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- G—PHYSICS
- G04—HOROLOGY
- G04R—RADIO-CONTROLLED TIME-PIECES
- G04R20/00—Setting the time according to the time information carried or implied by the radio signal
- G04R20/02—Setting the time according to the time information carried or implied by the radio signal the radio signal being sent by a satellite, e.g. GPS
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- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
- G01S19/25—Acquisition or tracking or demodulation of signals transmitted by the system involving aiding data received from a cooperating element, e.g. assisted GPS
- G01S19/256—Acquisition or tracking or demodulation of signals transmitted by the system involving aiding data received from a cooperating element, e.g. assisted GPS relating to timing, e.g. time of week, code phase, timing offset
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- G—PHYSICS
- G04—HOROLOGY
- G04R—RADIO-CONTROLLED TIME-PIECES
- G04R20/00—Setting the time according to the time information carried or implied by the radio signal
- G04R20/02—Setting the time according to the time information carried or implied by the radio signal the radio signal being sent by a satellite, e.g. GPS
- G04R20/04—Tuning or receiving; Circuits therefor
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Abstract
The invention discloses a high-precision real-time synchronization device based on Beidou PPP-B2B, which comprises a PPP-B2B correction information acquisition module, a PPP-B2B correction information decoding module, a PPP real-time difference resolving module, a real-time high-precision time difference measuring module, a precision time-frequency driving module, a local reference clock, a time signal generating module and a GNSS antenna module. The invention can realize high-precision PPP time transmission and time synchronization under the condition of only receiving the data of the effective Beidou No. three global satellite navigation system, and breaks through the difficulty of network limitation; strong robustness, high stability and high reliability; real-time nanosecond and subnanosecond time synchronization can be realized.
Description
Technical Field
The invention belongs to the technical field of time frequency, and particularly relates to a Beidou PPP-B2B-based high-precision real-time synchronization device and a Beidou PPP-B2B-based high-precision real-time synchronization method.
Background
The high-precision real-time synchronization equipment is widely applied to the fields of science and engineering, such as high-energy physics, mobile communication (5G), intelligent finance, intelligent transportation (unmanned), radar networking and the like, and needs unified high-precision standard time. The invention utilizes the Beidou No. three global satellite navigation System (BDS-3) which is vigorously developed by the state, adopts a real-time difference resolving technology, a high-precision time difference real-time measuring technology and a precision time-frequency driving technology based on the Beidou PPP-B2B to realize high-precision real-time synchronization, and can establish uniform high-precision real-time standard time for the fields.
The precision point-to-point positioning (PPP) time-frequency transmission technology becomes a GNSS time-frequency transmission method with optimal performance by the advantages of high precision, wide coverage range, low cost and flexibility, and is widely applied to the fields of time comparison, time synchronization, time-frequency reference establishment and maintenance and the like. However, the PPP real-time transfer technique must rely on the correction information broadcasted by the network in real time to realize high-precision time transfer, so that it is difficult to realize high-precision real-time synchronization in the case of network congestion, interruption, no network, etc.
In addition, the synchronization precision of the real-time synchronization method of the common GNSS disciplined clock is influenced by the time delay change of an electromagnetic wave transmission link, the frequency drift of a satellite clock, the internal time delay change of a receiver and the like, and the synchronization precision is low. The common-view and full-view time synchronization methods need to utilize post-precision products or post-comparison to realize high-precision time comparison, so that real-time high-precision time synchronization cannot be realized. At present, research on the correction information of the Beidou third-generation global navigation satellite system PPP-B2B mainly focuses on quality, stability and reliability evaluation of a PPP-B2B product and application in the aspect of positioning and navigation, and no research on a high-precision real-time synchronization method based on the Beidou PPP-B2B exists.
Therefore, the invention provides a high-precision real-time synchronization device and method based on Beidou PPP-B2B, which are based on PPP-B2B correction information broadcasted by BDS-3, analyze the PPP-B2B correction information in real time, solve the problem of acquiring the precise orbit and clock error of a navigation satellite in real time under the condition of no network, design a real-time difference resolving method taking the characteristics of PPP-B2B into consideration, complete high-precision real-time difference resolving and realize wide-area nanosecond real-time synchronization.
Disclosure of Invention
The invention aims to provide a Beidou PPP-B2B-based high-precision real-time synchronization device and a Beidou PPP-B2B-based high-precision real-time synchronization method aiming at the defects in the prior art.
The above object of the present invention is achieved by the following technical means:
based on the Beidou PPP-B2B high-precision real-time synchronizer, the device comprises a GNSS antenna module, a PPP-B2B correction information acquisition module, a PPP-B2B correction information decoding module, a PPP real-time difference resolving module, a real-time high-precision time difference measuring module, a precision time-frequency driving module, a local reference clock and a time signal generating module,
the local reference clock is used for calibrating a 10MHz reference clock signal according to the frequency driving quantity and outputting the signal to the PPP-B2B correction information acquisition module, the real-time high-precision time difference measurement module and the time signal generation module;
the time signal generating module is used for calibrating a local 1PPS time signal according to a 10MHz reference clock signal provided by a local reference clock and a time control quantity and outputting the time signal to the real-time high-precision time difference measuring module;
the GNSS antenna module is used for receiving the GNSS signals and outputting the GNSS signals to the PPP-B2B correction information acquisition module;
the PPP-B2B correction information acquisition module is used for acquiring PPP-B2B correction information and broadcast ephemeris according to GNSS signals, outputting the PPP-B2B correction information and the broadcast ephemeris to the PPP-B2B correction information decoding module, acquiring original pseudo-range and carrier phase observation data, sending the original pseudo-range and carrier phase observation data to the PPP real-time difference resolving module, and generating a receiving module 1PPS signal according to the GNSS signals and sending the PPS signal to the real-time high-precision time difference measuring module;
the PPP-B2B correction information decoding module is used for calculating correction information of the satellite orbit and correction information of the clock error according to the PPP-B2B correction information, calculating a satellite precision orbit and a satellite precision clock error according to the correction information of the satellite orbit and the correction information of the clock error and outputting the satellite precision orbit and the satellite precision clock error to the PPP real-time difference resolving module;
the PPP real-time difference resolving module is used for determining parameters of a Kalman filter according to the broadcasting time interval and the time-varying characteristics of PPP-B2B correction information, inputting satellite precise orbits, precise clock errors, original pseudo ranges and carrier phase observation data into the Kalman filter, calculating PPP resolving time difference between the PPP-B2B correction information acquisition module and a navigation system in a deionization layer combination mode, and outputting the PPP resolving time difference to the precise time-frequency driving module;
the real-time high-precision time difference measuring module is used for measuring the time difference between the 1PPS signal of the receiving module and the local 1PPS signal in real time and outputting the time difference to the precision time-frequency driving module;
and the precise time-frequency driving module is used for calculating frequency driving amount and time driving amount according to PPP resolving time difference and real-time measuring time difference.
The Beidou PPP-B2B-based high-precision real-time synchronization method comprises the following steps of:
step 1, a GNSS antenna module receives a GNSS signal and sends the GNSS signal to a PPP-B2B correction information acquisition module, the PPP-B2B correction information acquisition module acquires PPP-B2B correction information and a broadcast ephemeris according to the GNSS signal and outputs the PPP-B2B correction information and the broadcast ephemeris to a PPP-B2B correction information decoding module, and the PPP-B2B correction information acquires original pseudo range and carrier phase observation data and sends the original pseudo range and the carrier phase observation data to a PPP real-time difference calculation module;
step 2, the PPP-B2B correction information decoding module calculates a satellite precise orbit and a precise clock error according to the PPP-B2B correction information and the broadcast ephemeris and outputs the PPP-B2B correction information, the satellite precise orbit and the precise clock error to the PPP real-time difference resolving module;
step 3, the PPP real-time difference calculation module determines parameters of a Kalman filter according to the broadcasting time interval and time-varying characteristics of the PPP-B2B correction information, inputs satellite precise orbits, precise clock errors, original pseudo ranges and carrier phase observation data into the Kalman filter, calculates PPP calculation time difference between the PPP-B2B correction information acquisition module and a navigation system in a deionization layer combination mode, and outputs the PPP calculation time difference to a precise time-frequency driving module;
step 4, the PPP-B2B correction information acquisition module and the time signal generation module respectively output the 1PPS signal and the local 1PPS signal of the receiving module to the real-time high-precision time difference measurement module, the real-time high-precision time difference measurement module measures the time difference between the 1PPS signal and the local 1PPS signal of the receiving module in real time and outputs the measured real-time measurement time difference to the precision time frequency control module;
and 5, the precision time-frequency driving module calculates frequency driving quantity and time driving quantity according to PPP resolving time difference and real-time measuring time difference, the frequency of a 10MHz reference clock signal of the local reference clock is calibrated through the frequency driving quantity, and the phase of the local 1PPS signal output by the time signal generating module is calibrated through the time driving quantity.
Compared with the prior art, the invention has the following beneficial effects:
1. under the condition of only receiving data of an effective Beidou No. three global satellite navigation system, high-precision PPP time transfer and time synchronization can be realized, and the difficulty of network limitation in the existing PPP time transfer technology is broken through;
2. the invention adopts the Beidou PPP-B2B mode to obtain the correction information of the satellite precision orbit and the precision clock error, and the PPP time synchronization precision is reduced only under the condition that the GNSS signal is interfered, so the invention has strong robustness, high stability and high reliability;
3. the real-time difference resolving method based on precise single-point positioning is adopted, the time tracing precision is high, and real-time nanosecond and subnanosecond time synchronization can be realized;
4. the invention adopts a real-time difference resolving method based on precise single-point positioning, breaks through the influence of the base length between the devices of the invention on the time synchronization precision, and basically ignores the base length on the time synchronization precision, so the time synchronization method has the characteristics of wide area, real time and high precision.
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FIG. 1 is a schematic block diagram of an example of the apparatus of the present invention.
Detailed Description
The invention will be described in further detail below to facilitate the understanding and practice of the invention by those skilled in the art, and it is to be understood that the description herein is merely illustrative and explanatory of the invention and is not restrictive thereof.
As shown in figure 1, based on big dipper PPP-B2B high accuracy real-time synchronizer includes: the device comprises a PPP-B2B correction information acquisition module, a PPP-B2B correction information decoding module, a PPP real-time difference resolving module, a real-time high-precision time difference measuring module, a precision time-frequency driving module, a local reference clock, a time signal generating module, a GNSS antenna module and a precision power supply module.
In the embodiment, the PPP-B2B correction information acquisition module is a Beidou third global satellite navigation system receiving module, the local reference clock provides a 10MHz reference clock signal for the PPP-B2B correction information acquisition module, the GNSS antenna module outputs the received GNSS signal to the PPP-B2B correction information acquisition module, the PPP-B2B correction information acquisition module receives the GNSS signal, and according to a GNSS signal broadcast by the Beidou third global satellite navigation system, original pseudo range and carrier phase observation data are acquired and sent to the PPP real-time difference calculation module, PPP-B2B correction information and broadcast are acquired and output to the PPP-B2B correction information decoding module, and meanwhile, the PPP-B2B correction information acquisition module generates a GNSS signal according to the GNSS signal and sends the received module 1PPS signal to the real-time high-precision time difference measurement module.
The PPP-B2B correction information decoding module is respectively connected with the PPP-B2B correction information acquisition module and the PPP real-time difference resolving module, receives the PPP-B2B correction information and the broadcast ephemeris output by the PPP-B2B correction information acquisition module, analyzes and obtains the correction information of the satellite orbit and the correction information of the clock error in real time according to the protocol format of the PPP-B2B correction information, calculates the satellite precise orbit and the precise clock error in real time according to the PPP-B2B correction information broadcast by the Beidou No. three global satellite under the condition of not requiring a network, and outputs the satellite precise orbit and the precise clock error to the PPP real-time difference resolving module.
The PPP real-time difference resolving module is respectively connected with the PPP-B2B correction information decoding module and the precision time-frequency driving module, receives the satellite precision orbit and the precision clock error output by the PPP-B2B correction information decoding module, resolves the resolving PPP time difference between the PPP-B2B correction information acquisition module and the navigation system in real time and outputs the PPP resolving time-frequency difference to the precision driving module by adopting a time difference resolving method taking the characteristics of the PPP-B2B into consideration according to the satellite precision orbit, the precision clock error, the original pseudo range and the carrier phase observation data.
The time difference resolving method taking the PPP-B2B characteristics into consideration comprises the following steps of determining Kalman filter parameters including a covariance matrix, a state matrix and the like according to the broadcasting time interval and time-varying characteristics of PPP-B2B correction information, inputting satellite precise orbit, precise clock error, original pseudo range and carrier phase observation data into the Kalman filter, and calculating PPP resolving time difference between a PPP-B2B correction information acquisition module and a navigation system in a deionization layer combination mode to realize high-precision time difference resolving and high-precision time tracing.
The real-time high-precision time difference measuring module is respectively connected with a local reference clock, a PPP-B2B correction information acquisition module, a precision time frequency driving module and a time signal generating module, the local reference clock provides a 10MHz reference clock signal for the real-time high-precision time difference measuring module, the PPP-B2B correction information acquisition module and the time signal generating module respectively output a receiving module 1PPS signal and a local 1PPS signal to the real-time high-precision time difference measuring module, the real-time high-precision time difference measuring module measures the time difference between the receiving module 1PPS signal and the local 1PPS signal in real time and outputs the measured real-time measured time difference to the precision time frequency driving module.
The precision time frequency driving module is respectively connected with the local reference clock, the real-time high-precision time difference measuring module, the PPP real-time difference calculating module and the time signal generating module, the real-time high-precision time difference measuring module and the PPP real-time difference calculating module respectively output PPP calculated time difference and real-time measured time difference to the precision time frequency driving module, the precision time frequency driving module calculates frequency driving quantity and time driving quantity according to the PPP calculated time difference and the real-time measured time difference, the frequency driving quantity is used for calibrating the frequency of a 10MHz reference clock signal of the local reference clock, and the time driving quantity is used for calibrating the phase of a local 1PPS signal output by the time signal generating module, so that the high-precision time synchronization between the time synchronizing device and the navigation system is realized, and the high-precision time synchronization between the time synchronizing device is realized by taking the time of the navigation system as reference.
The local reference clock is connected with the PPP-B2B correction information acquisition module, the real-time high-precision time difference measurement module, the precision time-frequency control module and the time signal generation module, and provides a high-performance 10MHz reference clock signal for the PPP-B2B correction information acquisition module, the real-time high-precision time difference measurement module and the time signal generation module and provides a 10MHz reference clock signal for an external time terminal of the device. The frequency accuracy of the output 10MHz reference clock signal of the device of the invention is improved by calibrating the local reference clock frequency according to the frequency control quantity of the precise time-frequency control module.
The time signal generating module is connected with the local reference clock, the real-time high-precision time difference measuring module and the precise time-frequency driving module, the 10MHz reference clock provided by the local reference clock is used as a reference, the time signal generating module generates a local 1PPS time signal and outputs the local 1PPS signal to the real-time high-precision time difference measuring module and an external time-use terminal of the device, and meanwhile, the time phase of the local 1PPS signal is calibrated in real time according to the time driving quantity calculated by the precise time-frequency driving module, so that high-precision time synchronization among the devices is realized.
The GNSS antenna module is connected with the PPP-B2B correction information acquisition module, receives the GNSS signals, amplifies the GNSS signals with low noise and outputs the GNSS signals to the PPP-B2B correction information acquisition module.
The precision power supply module is respectively connected with the PPP-B2B correction information acquisition module, the PPP-B2B correction information decoding module, the PPP real-time difference resolving module, the real-time high-precision time difference measuring module, the precision time-frequency driving module, the local reference clock, the time signal generating module and the GNSS antenna module, and provides a low-noise and differentiated power supply for the modules.
The Beidou-based PPP-B2B high-precision real-time synchronization method utilizes the Beidou-based PPP-B2B high-precision real-time synchronization device and comprises the following steps of:
step 1, a GNSS antenna module receives a GNSS signal, amplifies the GNSS signal with low noise and outputs the GNSS signal to a PPP-B2B correction information acquisition module, the PPP-B2B correction information acquisition module acquires PPP-B2B correction information and broadcast ephemeris according to the GNSS signal and outputs the PPP-B2B correction information and the broadcast ephemeris to a PPP-B2B correction information decoding module, and the PPP-B2B correction information acquisition module acquires original pseudo range and carrier phase observation data and sends the original pseudo range and the carrier phase observation data to a PPP real-time difference resolving module;
step 2, a PPP-B2B correction information decoding module calculates a satellite precise orbit and a precise clock error according to the PPP-B2B correction information and a broadcast ephemeris and outputs the satellite precise orbit and the precise clock error to a PPP real-time difference resolving module;
step 3, the PPP real-time difference calculation module calculates the PPP calculation time difference between the PPP-B2B correction information acquisition module and the navigation system time in real time according to the satellite precision orbit and the precision clock error and outputs the PPP calculation time difference to the precision time-frequency driving module;
step 4, the PPP-B2B correction information acquisition module and the time signal generation module respectively output the receiving module 1PPS signal and the local 1PPS signal to the real-time high-precision time difference measurement module, the real-time high-precision time difference measurement module measures the time difference between the receiving module 1PPS signal and the local 1PPS signal in real time and outputs the measured real-time measurement time difference to the precision time-frequency control module;
and 5, calculating a frequency control quantity and a time control quantity by the precision time-frequency control module according to the PPP resolving time difference and the real-time measurement time difference, calibrating the frequency of a 10MHz reference clock signal of the local reference clock through the frequency control quantity, and calibrating the phase of the local 1PPS signal output by the time control quantity calibration time signal generation module.
It should be noted that the specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications or additions may be made to the described embodiments or alternatives may be employed by those skilled in the art without departing from the spirit or ambit of the invention as defined in the appended claims.
Claims (2)
1. Based on the Beidou PPP-B2B high-precision real-time synchronization device, the device comprises a GNSS antenna module and is characterized by also comprising a PPP-B2B correction information acquisition module, a PPP-B2B correction information decoding module, a PPP real-time difference resolving module, a real-time high-precision time difference measuring module, a precision time frequency driving module, a local reference clock and a time signal generating module,
the local reference clock is used for calibrating a 10MHz reference clock signal according to the frequency driving quantity and outputting the signal to the PPP-B2B correction information acquisition module, the real-time high-precision time difference measurement module and the time signal generation module;
the time signal generating module is used for calibrating a local 1PPS time signal according to a 10MHz reference clock signal provided by a local reference clock and a time control quantity and outputting the time signal to the real-time high-precision time difference measuring module;
the GNSS antenna module is used for receiving the GNSS signals and outputting the GNSS signals to the PPP-B2B correction information acquisition module;
the PPP-B2B correction information acquisition module is used for acquiring PPP-B2B correction information and broadcast ephemeris according to GNSS signals, outputting the PPP-B2B correction information and the broadcast ephemeris to the PPP-B2B correction information decoding module, acquiring original pseudo-range and carrier phase observation data, sending the original pseudo-range and carrier phase observation data to the PPP real-time difference resolving module, and generating a receiving module 1PPS signal according to the GNSS signals and sending the PPS signal to the real-time high-precision time difference measuring module;
the PPP-B2B correction information decoding module is used for calculating correction information of the satellite orbit and correction information of the clock error according to the PPP-B2B correction information, calculating a satellite precision orbit and a satellite precision clock error according to the correction information of the satellite orbit and the correction information of the clock error and outputting the satellite precision orbit and the satellite precision clock error to the PPP real-time difference resolving module;
the PPP real-time difference resolving module is used for determining parameters of a Kalman filter according to the broadcasting time interval and the time-varying characteristics of PPP-B2B correction information, inputting satellite precise orbits, precise clock errors, original pseudo ranges and carrier phase observation data into the Kalman filter, calculating PPP resolving time difference between the PPP-B2B correction information acquisition module and a navigation system in a deionization layer combination mode, and outputting the PPP resolving time difference to the precise time-frequency driving module;
the real-time high-precision time difference measuring module is used for measuring the time difference between the 1PPS signal of the receiving module and the local 1PPS signal in real time and outputting the time difference to the precise time frequency driving module;
and the precise time-frequency driving module is used for calculating frequency driving quantity and time driving quantity according to the PPP resolving time difference and the real-time measurement time difference.
2. The Beidou PPP-B2B-based high-precision real-time synchronization method is characterized by comprising the following steps of:
step 1, a GNSS antenna module receives a GNSS signal and sends the GNSS signal to a PPP-B2B correction information acquisition module, the PPP-B2B correction information acquisition module acquires PPP-B2B correction information and broadcast ephemeris according to the GNSS signal and outputs the PPP-B2B correction information and the broadcast ephemeris to a PPP-B2B correction information decoding module, and the PPP-B2B correction information acquires original pseudo-range and carrier phase observation data and sends the original pseudo-range and carrier phase observation data to a PPP real-time difference resolving module;
step 2, the PPP-B2B correction information decoding module calculates a satellite precise orbit and a precise clock error according to the PPP-B2B correction information and the broadcast ephemeris and outputs the PPP-B2B correction information, the satellite precise orbit and the precise clock error to the PPP real-time difference resolving module;
step 3, the PPP real-time difference calculation module determines parameters of a Kalman filter according to the broadcasting time interval and time-varying characteristics of the PPP-B2B correction information, inputs satellite precise orbits, precise clock errors, original pseudo ranges and carrier phase observation data into the Kalman filter, calculates PPP calculation time difference between the PPP-B2B correction information acquisition module and a navigation system in a deionization layer combination mode, and outputs the PPP calculation time difference to a precise time-frequency driving module;
step 4, the PPP-B2B correction information acquisition module and the time signal generation module respectively output the receiving module 1PPS signal and the local 1PPS signal to the real-time high-precision time difference measurement module, the real-time high-precision time difference measurement module measures the time difference between the receiving module 1PPS signal and the local 1PPS signal in real time and outputs the measured real-time measurement time difference to the precision time-frequency control module;
and 5, calculating a frequency control quantity and a time control quantity by the precision time-frequency control module according to the PPP resolving time difference and the real-time measurement time difference, calibrating the frequency of a 10MHz reference clock signal of the local reference clock through the frequency control quantity, and calibrating the phase of the local 1PPS signal output by the time control quantity calibration time signal generation module.
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